drivers/can_peak_linux/can_peak_linux.c
author etisserant
Wed, 04 Apr 2007 13:04:31 +0200
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child 162 8331c670a3de
permissions -rw-r--r--
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#include <stdio.h>
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#include <string.h>
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#include <errno.h>
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#include <fcntl.h>
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/* driver pcan pci for Peak board */
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//#include "libpcan.h"
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//#include "pcan.h"
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#include "libpcan.h" // for CAN_HANDLE
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#include "can_driver.h"
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// Define for rtr CAN message
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#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR 
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/*********functions which permit to communicate with the board****************/
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UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
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{
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  UNS8 data; 
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  TPCANMsg peakMsg;
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  if ((errno = CAN_Read(fd0, & peakMsg))) {		// Blocks until no new message or error.
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    if(errno != -EIDRM && errno != -EPERM) // error is not "Can Port closed while reading" 
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    {
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    	perror("!!! Peak board : error of reading. (from f_can_receive function) \n");
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    }
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    return 1;
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  }
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  m->cob_id.w = peakMsg.ID;   
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  if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)         	/* bits of MSGTYPE_*/
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    m->rtr = 0;
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  else 
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    m->rtr = 1;
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  m->len = peakMsg.LEN;					/* count of data bytes (0..8) */
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  for(data = 0  ; data < peakMsg.LEN ; data++)             			
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    m->data[data] = peakMsg.DATA[data];         	/* data bytes, up to 8 */
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  return 0;
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}
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/***************************************************************************/
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UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
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{
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  UNS8 data;
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  TPCANMsg peakMsg;
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  peakMsg.ID=m -> cob_id.w;              			/* 11/29 bit code */
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  if(m->rtr == 0)	
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    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;       /* bits of MSGTYPE_*/
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  else {
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    peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/
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  }
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  peakMsg.LEN = m->len;   
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          			/* count of data bytes (0..8) */
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  for(data = 0 ; data <  m->len; data ++)
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  	peakMsg.DATA[data] = m->data[data];         	/* data bytes, up to 8 */
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  if((errno = CAN_Write(fd0, & peakMsg))) {
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    perror("!!! Peak board : error of writing. (from canSend function) \n");
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    return 1;
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  }
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  return 0;
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}
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/***************************************************************************/
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int TranslateBaudeRate(char* optarg){
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	if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
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	if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
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	if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
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	if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
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	if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
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	if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
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	if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
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	if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
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	if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
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	if(!strcmp( optarg, "none")) return 0;
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	return 0x0000;
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}
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/***************************************************************************/
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CAN_HANDLE canOpen_driver(s_BOARD *board)
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{
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  HANDLE fd0 = NULL;
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  char busname[64];
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  char* pEnd;
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  int i;  
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  int baudrate;
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  if(strtol(board->busname, &pEnd,0) >= 0)
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  {
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    sprintf(busname,"/dev/pcan%s",board->busname);
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    fd0 = LINUX_CAN_Open(busname, O_RDWR);
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  }
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  if(baudrate = TranslateBaudeRate(board->baudrate))
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   	CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
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   return (CAN_HANDLE)fd0;
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}
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/***************************************************************************/
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int canClose_driver(CAN_HANDLE fd0)
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{
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  CAN_Close(fd0);
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  return 0;
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}